Methods for piloting mobile objects, in particular miniature cars, using a multipath guiding process and system using same

ABSTRACT

The invention concerns a method and a system for piloting mobile objects driven by actuators connected to an electric power. The mobile objects are guided by operators via a guide circuit. The guide circuit is common to the various mobile objects moving around the same continuous track. The system comprises parameterizing means for parameterizing the mobile object based on the mobility strategy chosen, and/or transmission means for transmitting to said mobile object control instructions in accordance with the mobility strategy chosen, particularly control instructions related to its speed and to the guide lane used. The mobile object includes selection means for selecting the guide lane used based on the mobility strategy. The selection means are implemented by the mobile object.

TECHNICAL FIELD, PROBLEM POSED

The invention concerns a system for controlling mobile objects in aguide circuit. It is particularly applicable, for example, to toy carsystems guided on a track.

Games consisting of automobile circuits in which the cars are guided,for example, by guide lanes, are known in the art. However, thesesystems generally provide several circuits, each of which guides a car.Each car is guided by commands given to the circuit. If there areseveral cars on the same circuit, they will be guided in the same way,based on the orders given to the circuit. For the operator, this createsa certain monotony in the use of the system, and in the long run, acertain tedium that can result in a loss of interest in this type ofgame.

The subject of the invention is a system that makes it possible to solvethis problem. It concerns a system that makes it possible to introducesurprise and spontaneity into the control of a vehicle circuit such as aguided automobile circuit. The invention also has the advantage ofmaking it possible to control several vehicles independently on the samecircuit.

The invention concerns a method for piloting mobile objects driven byactuators, particularly miniature cars, on a continuous track. Themobile objects are guided by operators via a guide circuit comprisingseveral lanes. The guide circuit is common to the various mobile objectsmoving around the same track. The method comprises the following steps:

the step, for the operator, of choosing, ahead of time or in real time,a mobility strategy for the mobile object,

the step, for the operator, of parameterizing the mobile object based onthe mobility strategy chosen, and/or

the step, for the operator, of transmitting to the mobile object controlinstructions in accordance with the mobility strategy chosen, includingcontrol instructions related to its speed and to the guide lane used,

the step, for the mobile object, of selecting the guide lane used basedon the mobility strategy, as it moves around the track.

Preferably, according to the invention, the method is such that themobility strategy is characterized by at least one of the initializationparameters specifying:

the type of mobile object,

the type of driving,

the types and/or quantities of resources available, for example, in thecase of miniature cars, the nature of the tires, the initial gasolineallocation, etc.

The mobility strategy is also characterized by at least one of thefollowing parameters specifying the driving:

a speed parameter,

a lane change parameter.

Preferably, according to the invention, the method is such that, inorder to parameterize the mobile object based on the mobility strategychosen, the method also comprises the step, for the operator, ofentering data and/or macro commands into a memory area located in themobile object. The memory area is associated with a microcontroller thatcontrols the actuators.

Preferably, according to a variant of embodiment of the invention, themethod is such that, in order to transmit to the mobile object controlinstructions in accordance with the mobility strategy chosen, the methodcomprises the step of initializing each of the mobile objects byassigning them an identifier, particularly an alphanumeric identifier.This identifier can also be characterized by a specific communicationchannel. In the case of this variant of embodiment, the method alsocomprises the following steps:

the step of formatting the control instructions in the form of digitaldata by associating them with the identifier of the mobile object inquestion,

the step of multiplexing in the guide circuit the control instructionsspecific to each of the mobile objects and the electric power supplyrequired to operate the mobile object,

the step, for each microcontroller of each mobile object, of extractingfrom the multiplexed control instructions those that are associated withthe identifier that has been assigned to the mobile object in question.

The method also comprises the step, for the microcontroller, ofcontrolling the actuators based on the extracted control instructions.

Preferably, according to the invention, the method is such that themultiplexing is a time multiplexing.

Preferably, according to the invention, the time multiplexing is suchthat each phase for transmitting the control instructions associatedwith a given mobile object is followed by a phase for supplying electricpower.

Preferably, according to the invention, the method also comprises thestep of supplying power to the actuators of the mobile object through anelectrical circuit associated with the guide circuit and/or through abattery and/or through a rechargeable battery in the mobile object. Themethod is such that, in order to transmit to the mobile object controlinstructions in accordance with the mobility strategy chosen, the methodalso comprises the following steps:

the step of initializing each of the mobile objects by assigning each ofthem an identifier, particularly an alphanumeric identifier,

the step of formatting the control instructions in the form of digitaldata by associating them with the identifier of the mobile object inquestion,

the step of transmitting to the mobile objects a signal, particularly anoptical—for example infrared—signal and/or a sound signal and/or anelectromagnetic signal,

the step for each microcontroller of each mobile object, of extractingfrom the signal the control instructions associated with the identifierassigned to the mobile object in question.

The method also comprises the step, for the microcontroller, ofcontrolling the actuators based on the control instructions extractedfrom the signal.

Preferably, according to the invention, in order to select the guidelane used based on the mobility strategy, while the mobile object ismoving around the track, the method also comprises the following steps:

the step, for a given mobile object, of transmitting a guide signal,particularly an optical—for example infrared—signal, to a receiverdisposed on the guide circuit and/or on the track;

the step, for the receiver, of decoding the guide signal to produce asignal for controlling the state of a switch associated with saidreceiver and disposed on the guide circuit,

the step, for the switch, of changing states as a function of thecontrol signal.

The result of the combination of the technical features according to theinvention is that as the mobile object moves around the track, themobile object actuates the switch that allows it to change lanes.

Another result of the combination of the technical features according tothe invention is that the operator transmitting control instructions tothe mobile object can see that the lateral movements of the mobileobject on the track are practically identical to those that would beobserved by an observer actuating a steering wheel for changing thedirection of said mobile object, whose point of view would be associatedwith said mobile object.

Another result of the combination of the technical features according tothe invention is that a mobile object moving around the track can passanother one located in front of it, by swerving laterally.

Preferably, according to the invention, the receiver is disposed on theguide circuit and/or on the track ahead of the switch and at a distancefrom the latter such that a change in the state of the switch cannotproduce a change in the movement of any mobile object other than the onethat first actuated the switch.

Preferably, according to the invention, the method is such that it alsocomprises the step of automatically switching the switch to apredetermined state after the passage of a mobile object that hasactuated it.

Preferably, according to the invention, the predetermined state is theinitial state.

Preferably, according to the invention, the method also comprises thestep of determining the number of laps around the track performed byeach mobile object by detecting a label associated with a given mobileobject by means of a reader, particularly an optical or electromagneticreader, integral with the track.

Preferably, according to the invention, the method also comprises thestep of timing the time taken by a given mobile object to perform agiven number of laps around the track. The timing is performed bydetecting the passage of a label associated with the mobile object readby means of a reader, particularly an optical and/or electromagneticreader, integral with the track.

System

The invention also concerns a system for piloting mobile objects drivenby actuators, particularly miniature cars, on a continuous track. Themobile objects are guided by operators via a guide circuit comprisingseveral lanes. The guide circuit is common to the various mobile objectsmoving around the same track. The operator chooses, ahead of time or inreal time, a mobility strategy for the mobile object. The systemcomprises:

parameterizing means for parameterizing the mobile object based on themobility strategy chosen, and/or

transmission means for transmitting to the mobile object controlinstructions in accordance with the mobility strategy chosen,particularly control instructions related to its speed and to the guidelane used.

Thus, in the example in question, the mobile object can be a robotmoving autonomously around the track without the intervention of theoperator. It can also be programmed to interpret control instructionsfrom the operator so as to generate movements that correspond to theoperator's expectations.

The mobile object includes selection means for selecting the guide laneused based on the mobility strategy. The selection means are implementedby the mobile object as it moves around the track.

Preferably, according to the invention, the system is such that themobility strategy is characterized by one of the followinginitialization parameters specifying:

the type of mobile object,

the type of driving,

the types and/or quantities of resources available, for example in thecase of miniature cars, the nature of the tires, the initial gasolineallocation, etc.

The mobility strategy is also characterized by at least one of thefollowing parameters specifying the driving:

a speed parameter,

a lane change parameter.

Preferably, according to the invention, the system is such that theparameterization means include a control element for entering dataand/or macro commands into a memory area located in the mobile object.The memory area is associated with a microcontroller that controls theactuators.

Preferably, according to the invention, each mobile object is identifiedby an identifier, particularly an alphanumeric identifier. The systemalso includes a base comprising:

joysticks actuated by the operator in order to acquire controlinstructions,

data processing means for formatting the control instructions in theform of digital data by associating them with the identifier of themobile object in question,

multiplexing means for multiplexing, in the guide circuit, the controlinstructions specific to each of the mobile objects and the electricpower supply required to operate the mobile object.

Each microcontroller of each mobile object makes it possible to extractfrom the multiplexed control instructions those that are associated withthe identifier that has been assigned to the mobile object in question.The microcontroller controls the actuators based on the extractedcontrol instructions.

Preferably, according to the invention, the system is such that themultiplexing means perform a time multiplexing of the controlinstructions with the power supply.

Preferably, according to the invention, the time multiplexing is suchthat each phase for transmitting the control instructions associatedwith a given mobile object is followed by a phase for supplying electricpower.

Preferably, according to another variant of embodiment of the invention,the system also comprises an electric power supply for the actuators,constituted by an electrical circuit associated with the guide circuitand/or by a battery and/or by a rechargeable battery in the mobileobject. Each mobile object is identified by an identifier, particularlyan alphanumeric identifier. In the case of this variant of embodiment,the system also includes a base comprising:

joysticks actuated by the operator in order to acquire controlinstructions,

data processing means for formatting the control instructions in theform of digital data by associating them with the identifier of themobile object in question,

transmission means for transmitting to the mobile objects a signal,particularly an optical—for example infrared—signal and/or a soundsignal and/or an electromagnetic signal.

Each microcontroller of each mobile object makes it possible to extractfrom the signal the control instructions associated with the identifierassigned to the mobile object in question. The microcontroller controlsthe actuators based on the extracted control instructions.

Preferably, according to the invention, the guide circuit is in the formof several guide lanes. Each mobile object includes a guide element thatcooperates with the guide lanes. The guide lanes are interconnected byswitches. The mobile object includes transmission means for transmittinga guide signal, particularly an optical—for example infrared—signal, toa switch receiver. The switch receiver, associated with a given switch,is disposed on the guide circuit and/or on the track The switch receiverincludes decoding means for decoding the guide signal and producing acontrol signal for the switch. The switch includes a moving element thatis actuated by the switch control signal. This moving element is capableof assuming at least two positions.

The result of this combination of technical features is that the mobileobject can thus select the appropriate guide lane, based on the mobilitystrategy, as it moves around the track.

Preferably, according to the invention, the switch receiver is disposedon the guide circuit and/or on the track ahead of the-switch and at adistance from the latter such that a change in the position of themoving element of the switch cannot produce a change in the movement ofany mobile object other than the one that first actuated the switch.

Preferably, according to the invention, the system is such that it alsocomprises return means for automatically switching the switch to apredetermined state after the passage of a mobile object that hasactuated it.

Preferably according to the invention, the predetermined state is theinitial state.

Preferably, according to the invention, the system also comprises alabel reader, particularly an optical and/or electromagnetic reader,integral with the track, for detecting a label associated with a givenmobile object, particularly an optical and/or electromagnetic reader.The label reader is integral with the track. The system also comprisescomputing means, associated with the label reader, for determining thenumber of laps around the track performed by each mobile object.

Preferably, according to the invention, the system also comprises alabel reader, particularly an optical and/or electromagnetic reader,integral with the track, for detecting a label associated with a givenmobile object. The system also comprises timing means, associated withthe label reader, for timing the time taken by a given mobile object toperform a given number around laps around the track.

DETAILED DESCRIPTION

Other characteristics and advantages of the invention will emergethrough the reading of the description of variants of embodiment of theinvention given as illustrative and nonlimiting examples, and of:

FIG. 1, which schematically represents the system according to theinvention,

FIGS. 2 a and 2 b, which represent an exemplary switch according to theinvention,

FIGS. 3 a and 3 b, which represent an application of the invention to asystem wherein the electric power supply for the vehicles that allowsthem to move and the speed and guidance information flow through thesame circuit, for example the guide circuit for the vehicles,

FIG. 4, which represents the control circuits of the system according tothe invention,

FIG. 5, which represents the circuits provided in each vehicle,

FIGS. 6 a and 6 b, which represent a variant of a switch to which the

FIGS. 7 a and 7 b, which represent a variant of a switch thatautomatically returns to the neutral position.

FIG. 1 schematically represents the system according to the invention.The system includes a circuit C1, C2, C3 on which mobile objects such asone or more vehicles V1, V2, V3 must run. The circuit C1, C2, C3 issupplied with electric power in an intrinsically known way. For example,in FIG. 1, the power required to move the vehicles V1, V2, V3 issupplied via a transformer T1 and the guide circuit C1, C2, C3.According to the invention, the vehicles V1, V2, V3 also receive speedand trajectory commands through the guide circuit. A circuit interposedbetween the transformer and the guide circuit is provided, making itpossible to transmit, through the guide circuit, speed and guidanceinformation for the vehicles V1, V2, V3. Each vehicle V1, V2, V3 canreceive a piece of information, or a packet of information containing apiece of speed information and a piece of guidance control information.The control of each vehicle V2, V2, V2 is therefore independent of thecontrol of the other vehicles V1, V2, V3 running on the circuit.

As shown in FIGS. 2 a and 2 b, each vehicle V1, V2, V3 has aninformation transmitter E1. In addition, the guide circuit C1 has aninformation receiver D1 associated with each switch A1, A2, A3 and aheadof each switch in the vehicles' direction of travel. When a vehiclereceives a guidance command, it has this information transmitted to itstransmitter E1. When the transmitter E1 of the vehicle comes near thereceiver D1, the latter receives this information, decodes it, andtriggers the operation of the switch A1. Thus, in FIG. 2 b, the receiverD1 has controlled the switching of the switch A1 so that the vehicle isdirected to the lane C3 of the circuit.

According to a simplified variant of embodiment of the invention, all ofthe switches on the circuit such as A1 have a neutral position such thatafter the switching of the switch and after the passage of the vehicle,the switch returns to a neutral position. Under these conditions, thesystem can be designed so that the normal movement of the vehicle issuch that it runs through the circuit with the switches in the neutralposition. As long as it does not receive a guidance command, thevehicle's transmitter does not transmit any information, and thedetectors such as D1 remain inactive. When the operator wants to makethe vehicle turn, for example to the right in FIG. 2 a, he sends adirection change command, the transmitter E1 transmits a control signal,the detector D1 detects it and triggers the operation (the switching) ofthe switch A1, which moves to the position represented in FIG. 2 b andautomatically returns to the position of FIG. 2 a after the vehiclepasses.

Under these conditions, according to this variant of embodiment, thereceiver has no decoding function.

Relative Position of the Transmitters and Receivers

The transmitters such as E1 can be placed underneath the vehicles. Inthis case, the receivers such as D1 are placed on the circuit in thelane in which the vehicles are running, for example, between the wheelpaths.

The transmitters such as E1 can also be placed on a lateral wall or onthe front of the vehicle and oriented toward the edge of the track. Thereceivers will then be placed on the edge of the track at a height suchthat they sit on the axis of maximum transmission of the transmissionlobe of the vehicles' transmitters.

In any case, the transmitters E1 will preferably be placed in the frontpart of the vehicle so as to trigger the switch as soon as possible whenthe vehicle approaches the switch.

Relative Position of the Receivers and the Switches

The receivers such as D1 are located along the lane at a distance fromthe switches A1 such that a vehicle, when it is at the maximum speedallowed by the system, is diverted by the switch A1 that follows thedetector D1 right after having been detected by this detector.

In this general description of the invention, the transmission of theinformation transmitted from an operator's station to a vehicle can takeplace through the guide circuits of the vehicle via radio frequency,ultrasound or optical transmission.

Generally, it is also possible to arrange for the power supply of thevehicle that allows it to move to be provided in the vehicle itself, bymeans of an electric battery.

Referring to FIG. 3, we will now describe the application of theinvention to a system wherein the electric power supply of the vehiclesthat allows them to move, and the speed and guidance information, arecarried by the same circuit, for example the guide circuit for thevehicles.

FIG. 3 a represents a control diagram for the power supply and thetransmission of information wherein the electric power supply of thevehicles is periodically cut off for brief periods, during which thecentralized control system transmits guidance and speed information tothe vehicles. In FIG. 3 a, there are assumed to be three vehicles.During a first electric power supply cutoff, information is transmittedto the vehicle V1 (data V1). During a second electric power supplycutoff, information is transmitted to the vehicle V2 (data V2). During athird electric power supply cutoff, information is transmitted to thevehicle V3 (data V3). Then, the cycle begins again. For example, a timets for the transmission of data to a vehicle (data V1 or example) can beapproximately 5 ms. A time t for the supply of electric power can beapproximately 20 ms. A practical example allowing for 8 vehicles wouldlead to a cycle time T of 200 ms.

FIG. 3 b represents a variant wherein the data V1, V2, V3 of a cycle aresent together during the same cutoff of the electric power supply to thevehicles.

FIG. 3 c represents a variant of embodiment wherein the speed andguidance information are superposed on the power supply current.

FIG. 4 represents an exemplary embodiment of a control station whichsupplies the electric power to the guide circuit and from which thevehicles are controlled. The guide circuit in this case includeselectrically conductive elements.

This control station includes a transformer TR which is generallysupplied with alternating current by the mains supply and which providesa low-voltage power supply.

A processing unit UT1 includes a circuit W1 for transmitting speedinformation and a circuit for transmitting guidance information. Thesecircuits are controlled by joysticks J1, J2, J3 of a known type. Thejoystick J1 makes it possible to control the vehicle V1, the joystick J2makes it possible to control the vehicle V2, and the joystick J3 makesit possible to control the vehicle V3. A central control unit UC1 makesit possible to periodically and alternately connect the circuit C1 tothe transformer TR and to the processing unit UT1. In addition, theprocessing unit UT1 controls the successive transmission of the speedand guidance information transmitted from the joysticks J1, J2, J3. Itadds to each of these pieces of information an identity (IDENT) thatrepresents the joystick and consequently the vehicle controlled. Thesuccessive transmissions take place in accordance with a process of atype similar to the one in FIGS. 3 a through 3 c.

FIG. 5 represents a vehicle V1. The unit ALIM of the vehicle isconnected by an electrical connection device, for example brushes, tothe guide circuit. The unit ALIM is therefore supplied with power duringthe periods when the transformer TR is connected to the guide circuitC1, and it supplies the electric power to the motor M and to all theelectronic circuits of the vehicle.

A processing unit UT2 is also electrically connected to the guidecircuit C1 by the brushes. Thus, it receives the speed and guidanceinformation sent by each joystick, along with an identity associatedwith this information. The processing unit of the vehicle V1 recognizesthe identity related to the joystick J1 and hence to itself andretrieves the information associated with this identity.

The processing unit UT2 processes this information based on thecharacteristics assigned to this vehicle (for example, parameters suchas the driving type, the vehicle type, the speed, the nature of thetires, the gasoline allocation, etc.) and then transmits the processedspeed and guidance information. A control unit UC2 provides:

a piece of guidance information to a transmission circuit G foractivating the transmission by the transmitter E1 of a piece of guidanceinformation

a piece of speed information to a transmission circuit W2 forcontrolling the speed of the motor M.

On the guide circuit end, a receiver D1 is located along the circuit.When the receiver D1 receives a piece of guidance information as avehicle passes, it switches the position of the switch A1, particularlyby means of an electromagnet.

In a simplified version, each switch has only two positions as in FIG. 2a. In this case, the guidance information is just a simple piece ofswitching information, which is all the receiver D1 needs to detect inorder to trigger the switching of A1.

In a more elaborate version, a switch can have more than two positionsand can switch a lane C1 to more than two possible other lanes.

For example, FIGS. 6 a and 6 b show that a lane C1 can be connected to aselected lane C2, C3 or C4. In this case, the guidance informationtransmitted by the transmitter E1 contains a direction indication andmust be interpreted by the receiver D1.

In this case, the transmitter E1 includes several light sources such asdiodes. A combination of lit diodes makes it possible to represent acontrol instruction. Thus, two diodes make it possible to control afour-way switch, and three diodes make it possible to control aneight-way switch. Then, based on the guidance information received, thecontrol unit UC2 will then actuate the lighting of selected diodes thatcorrespond to this information.

Each receiver such as D1 will have as many detecting diodes as eachvehicle has emitting diodes. Based on the diodes that have detected asignal, the receiver D1 will control the position of the switch.

It should be noted that the transmitters on the vehicles must bepositioned based on the position of the detectors, and vice versa, sothat as the vehicle passes, the various diodes of E1 pass in front ofthe diodes in the same row of D1.

In the above system, it is presumed that in the absence of a detectionof a guidance information signal, the switch is not activated, and itremains in the neutral position like the one in FIG. 2 a.

FIGS. 7 a and 7 b represent a device that makes it possible to have theswitch return to the neutral position after a vehicle passes.

In FIG. 7 a, the switch A1 is in the neutral position, and it connectsthe lane segment C1 to the lane segment C2.

Switching the switch A1 has the effect of connecting the lane segment C1to the lane segment C2. The point of the switch A1 has a portion B1 thatcurves toward the inside of the lane segment C3.

When the vehicle that triggered this switching passes over the switch,it pushes on the portion B1 and forces the switch to return to itsneutral position.

It should be noted that depending on the type of switch, the switchingof the switch can be done by means of a keel Q located underneath thevehicle and extending downward into the support plate containing theguide system. In this case the part B1 does not interfere with thepassage of the vehicle's wheels.

Preferably, it is arranged for the keel to be located underneath thevehicle at the front of the vehicle in order to trigger the return ofthe switch to the neutral position immediately after it passes.

Moreover, each vehicle has, underneath the vehicle, an identificationlabel L. This label is optically, electrically, or electromagneticallyreadable by a sensor CL located along the guide circuit. This sensor islinked to the processing unit UT1, which can thus calculate the variousperformances reached by the vehicle, such as speed, distance traveled,etc.

In the above description, we chose to describe an application of theinvention to a system of cars guided by an operator but it would also beapplicable to a system comprising preprogrammed robot cars.

1-26. (canceled)
 27. Method of piloting mobile vehicles driven byactuators on a continuous track, said mobile vehicles being guided byoperators via a guide circuit comprising several guide lanes, said guidecircuit being common to the mobile vehicles moving around the continuoustrack, the method comprising the steps of: selecting, a head of time orin real time, a mobility strategy for a mobile vehicle by an operator;parameterizing said mobile vehicle based on said selected mobilitystrategy by said operator; transmitting control instructions inaccordance with said selected mobility strategy to said mobile vehicle,said control instructions comprising instructions relating to saidmobile vehicle's speed and a guide land to be used by said mobilevehicle; and selecting the guide lane based on said control instructionsreceived by said mobile vehicle as said mobile vehicle moves around thecontinuous track.
 28. Method of claim 27, wherein the step ofparameterizing comprises the step of parameterizing at least one of thefollowing parameters: a type of said mobile vehicle, a type of driving,types and/or quantities of resources available, a speed parameter and alane change parameter.
 29. Method of claim 27, further comprising thestep of entering data and/or macro commands into a memory area locatedin said mobile vehicle by said operator, said memory area beingassociated with a microcontroller that controls said actuators. 30.Method of claim 27, wherein the step of transmitting comprises the stepsof: initializing said mobile vehicle by assigning an unique identifier;formatting said control instructions in the form of digital data byassociating said control instructions with said identifier of saidmobile vehicle; multiplexing in said guide circuit said controlinstructions specific to said mobile vehicle and the electric powersupply required to operate said mobile vehicle; and extracting saidcontrol instructions specific to said mobile vehicle form themultiplexed control instructions based on said identifier assigned tosaid mobile vehicle by a microcontroller associated with said mobilevehicle; and the method further comprising the step of controlling saidactuators by said microcontroller based on said extracted controlinstructions.
 31. Method of claim 30, wherein the step of multiplexingcomprises the step of time multiplexing.
 32. Method of claim 31, whereinthe step of time multiplexing comprises a phase for supplying electricpower to said mobile vehicle after each phase for transmitting saidcontrol instructions to said mobile vehicle.
 33. Method of claim 27,further comprising the steps of: supplying power to said actuators ofsaid mobile vehicle through at least one of the following: an electricalcircuit associated with the guide circuit, a battery in said mobilevehicle or a rechargeable battery in said mobile vehicle; initializingsaid mobile object by assigning an unique identifier; formatting saidcontrol instructions in the form of digital data by associating saidcontrol instructions with said identifier of said mobile vehicle;transmitting a signal to said mobile vehicle, said signal being at leastone of the following: an infrared signal, a sound signal or anelectromagnetic signal; extracting said control instructions for saidmobile vehicle from said signal based on said identifier assigned tosaid mobile vehicle by a microcontroller associated with said mobilevehicle, thereby enabling the transmission of said control instructionsin accordance with said selected mobility strategy to said mobilevehicle; and controlling said actuators of said mobile vehicle based onsaid control instructions extracted from said signal by saidmicrocontroller.
 34. Method of claim 27, further comprising the stepsof: transmitting a guide signal to a receiver disposed on said guidecircuit or the continuous track; decoding, by said receiver, said guidesignal to generate a control signal for controlling the state of aswitch disposed on said guide circuit and associated with said receiver;and changing the state of said switch as a function of said controlsignal such that as said mobile vehicle moves around the continuoustrack, said mobile vehicle is operable to actuate said switch thatallows said mobile vehicle to change lanes in accordance with mobilitystrategy; and wherein lateral movements of said mobile vehicle on thecontinuous track observed by said operator in response to said operatortransmitting control instructions are substantially identical tomovements observed by said operator actuating a steering wheel to changethe direction of said mobile vehicle; and wherein said mobile vehiclecan pass another mobile vehicle in front by swerving laterally. 35.Method of claim 34, wherein said receiver being disposed ahead of saidswitch oil said guide circuit or the continuous track; and wherein thestep of changing the state of said switch produces a change in themovement for only mobile vehicle that first actuated said switch. 36.Method of claim 34, further comprising the step of automaticallyswitching said switch to a predetermined state after the passage of amobile vehicle that actuated said switch.
 37. Method of claim 36,further comprising the step of automatically switching said switch to aninitial state after the passage of a mobile vehicle that actuated saidswitch.
 38. Method of claim 27, further comprising the step of detectinga label associated with said mobile vehicle, by a reader integral withthe continuous track, to determine the number of laps completed by saidmobile vehicle.
 39. Method of claim 27, further comprising the step ofdetecting a label associated with said mobile vehicle, by a readerintegral with the continuous track, to determine the time said mobilevehicle takes to complete a given number of laps around the continuoustrack.
 40. A system for piloting mobile vehicles driven by actuators ona continuous track, said mobile vehicle being guided by operators via aguide circuit comprising several guide lanes, said guide circuit beingcommon to the mobile vehicles moving around the continuous track, thesystem comprising: a processing unit for parameterizing a mobile vehiclebased on a mobility strategy selected ahead of time or in real time byan operator; and a transmitter for transmitting control instructions inaccordance with said selected mobility strategy chosen, said controlinstructions comprising instructions relating to said mobile vehicle'sspeed and a guide lane to be used by said mobile vehicle; and whereinsaid mobile vehicle comprises a selection means for selecting a guidelane as said mobile vehicle moves around the continuous track based onsaid control instructions received by said mobile vehicle.
 41. Thesystem of claim 40, wherein said mobility strategy comprises one of thefollowing parameters: a type of mobile vehicle, a type of driving, typesand/or quantities of resources available, a speed parameter and a lanechange parameter.
 42. The system of claim of claim 40, wherein saidprocessing unit comprises a control element for entering data and/ormacro commands into a memory area located in said mobile vehicle, saidmemory area being associated with a microcontroller that controls saidactuators.
 43. The system of claim 40, wherein said mobile vehicle beingidentified by an unique identifier and comprising a microcontroller; andfurther comprising a base comprising: joysticks actuated by saidoperator to acquire control instructions; a processing unit forformatting said control instructions in the form of digital data byassociating said control instructions with said identifier of saidmobile vehicle; and a control unit for multiplexing, in said guidecircuit, said control instructions specific to said mobile vehicle andthe electric power supply required to operate said mobile vehicle; andwherein said microcontroller is operable to extract said controlinstructions specific to said mobile vehicle from the multiplexedcontrol instructions based on said identifier assigned to said mobilevehicle and to control said actuators based on said extracted controlinstructions.
 44. The system of claim 43, wherein said control unit isoperable to perform time multiplexing of said control instructions withthe power supply.
 45. The system of claim 44, wherein said timemultiplexing comprises a phase for supplying electric power to saidmobile vehicle after each phase for transmitting said controlinstructions to said mobile vehicle.
 46. The system of 40, wherein saidmobile vehicle being identified by an unique identifier and comprising amicrocontroller; and further comprising an electric power supply forsupplying power to said actuators, said electric power supply comprisingat least one of the following: an electrical circuit associated with theguide circuit, a battery in said mobile vehicle or a rechargeablebattery in said mobile vehicle; and a base comprising: joysticksactuated by said operator to acquire control instructions; a processingunit for formatting said control instructions in the form of digitaldata by associating said control instructions with said identifier ofsaid mobile vehicle; and a transmitter for transmitting a signal to saidmobile vehicle, said signal being at least one of the following: aninfrared signal, a sound signal or an electromagnetic signal; andwherein said microcontroller is operable to extract said controlinstructions for said mobile vehicle from said signal based on saididentifier assigned to said mobile vehicle and to control said actuatorsbased on said extracted control instructions.
 47. The system of claim40, wherein said mobile vehicle comprises a guide element thatcooperates with said guide lanes, said guide lanes being interconnectedby switches; and a transmitter for transmitting a guide signal to aswitch receiver associated with a switch, said switch receiver beingdisposed on said guide circuit or the continuous track; wherein saidswitch receiver comprises a decoder for decoding said guide signal togenerate a control signal for said switch; wherein said switch comprisesa moving element having at least two positions and actuated by saidcontrol signal, thereby permitting said mobile vehicle to select saidguide lane based on said mobility strategy as said mobile vehicle movesaround the continuous track.
 48. The system of claim 47, wherein saidswitch receiver being disposed ahead of said switch on said guidecircuit or the continuous track such that a change in the position ofsaid the moving element of said switch produces a change in the movementfor only mobile vehicle that first actuated said switch.
 49. The systemof claim 47, wherein said switch is operable to automatically switch toa predetermined state after the passage of a mobile vehicle thatactuated said switch.
 50. The system of claim 49, said predeterminedstate is an initial state of said switch.
 51. The system of claim 40,further comprising: a label reader, integral with the continuous track,for detecting a label associated with said mobile vehicle; and aprocessing unit, associated with said label reader, for determining thenumber of laps completed by said mobile vehicle.
 52. The system of claim40, further comprising: a label reader, integral with the track, fordetecting a label associated with said mobile vehicle; and a processingunit, associated with said label reader, for determining the time saidmobile vehicle takes to complete a given number of laps around thecontinuous track.